Unstable Equilibrium Point Research Articles

Eksik Tahrikli Döner Ters Sarkaç Sisteminin Yukarı Yükseltilmesi için Enerji Tabanlı Doğrusal Olmayan Kontrol Algoritması ve Deneysel Doğrulaması

Bu çalışmada, döner ters sarkaç sistemi hareketli koluyla sınırlı bir bölge içinde, salınımı kontrol edilerek ve sarkaç enerjisi artırılarak, kararlı denge noktasından kararsız denge noktasına çıkarılması hedeflenmektedir. Döner ters sarkaç sisteminin doğrusal olmayan modeli ve denge noktalarındaki doğrusal modelleri verildikten sonra sarkaç yukarı yükseltme algoritması tanıtılmaktadır. Yukarı yükseltme algoritması, sarkaç salınırken belli noktalarda kol yardımıyla sarkaca enerji yüklemesine dayanmaktadır. Burada kol ivmelendirilmesi sabit bir ivme ile hareket ettirilmektedir. Yukarı yükseltme işlemindeki algoritma, sarkacın hızının en fazla olduğu yere yani kararlı denge noktasına ilerlerken ve periyodunu tamamlarken devreye girmektedir. Bu analizler hesaplanmış sınırlar dikkate alınarak yapılmaktadır. Sarkacın yukarı yükselmesi gerçekleştiğinde doğrusal model üzerinden elde edilmiş temel bir tam durum geri beslemeli kontrolcü devreye girmektedir ve sarkacı kararsız denge noktasında tutmaktadır. Böylece, anahtarlamalı bir kontrol yapısı elde edilmektedir. Önerilen kontrol algoritmasının doğrulaması için önerilen algoritma bir döner sarkacı üzerinde gerçek zamanlı olarak test edilmiştir. Farklı kol ivmelendirme değerleri ile elde edilen karşılaştırmalı sonuçlar sunulmuştur. Kol ivmesi ±32 rad/s2’den ±64 rad/s2’ye çıkarıldığında sarkacın yukarı yükselme süresi yaklaşık 9 s’den 5 s’ye düşmektedir. Bu sonuçlar, önerilen algoritmanın deneysel başarısını göstermektedir.

Dynamics and Adaptive Control of a Novel 5D Hyperchaotic System: Either Hidden Attractor or Self-excited with Unusual Nature of Unstable Equilibria

In 2020, J. Sprott proposed a new three dimensional chaotic system with special features such like 1) dissipative and time-reversible; 2) no equilibrium point; 3) lien of initial conditions goes to the attractor. We observed that an extension of the so-called Sprott's 2020 system to four dimensional system with complex dynamics showed either chaotic or hyperchaotic with unbounded orbits. In this paper, a novel five dimensional hyperchaotic system based on Sprott's 2020 system has been proposed. The proposed system shows complex dynamics like hyperchaotic. The proposed system can be classified as a hidden attractor where no equilibrium point appeared or self-excited where an unusual nature of unstable equilibrium points connected to a very complicated function called Lambert W appeared. The dynamical properties of such system are discovered by computing the Lyapunov exponents and bifurcation diagram. Adaptive control to the proposed system was provided.

When and why microbial-explicit soil organic carbon models can be unstable

Abstract. Microbial-explicit soil organic carbon (SOC) cycling models are increasingly being recognized for their advantages over linear models in describing SOC dynamics. These models are known to exhibit oscillations, but it is not clear when they yield stable vs. unstable equilibrium points (EPs) – i.e., EPs that exist analytically but are not stable in relation to small perturbations and cannot be reached by transient simulations. The occurrence of such unstable EPs can lead to unexpected model behavior in transient simulations or unrealistic predictions of steady-state soil organic carbon (SOC) stocks. Here, we ask when and why unstable EPs can occur in an archetypal microbial-explicit model (representing SOC, dissolved OC (DOC), microbial biomass, and extracellular enzymes) and some simplified versions of it. Further, if a model formulation allows for physically meaningful but unstable EPs, can we find constraints in the model parameters (i.e., environmental conditions and microbial traits) that ensure stability of the EPs? We use analytical, numerical, and descriptive tools to answer these questions. We found that instability can occur when the resupply of a growth substrate (DOC) is (via a positive feedback loop) dependent on its abundance. We identified a conservative, sufficient condition in terms of model parameters to ensure the stability of EPs. Principally, three distinct strategies can avoid instability: (1) neglecting explicit DOC dynamics, (2) biomass-independent uptake rate, or (3) correlation between parameter values to obey the stability criterion. While the first two approaches simplify some mechanistic processes, the third approach points to the interactive effects of environmental conditions and parameters describing microbial physiology, highlighting the relevance of basic ecological principles for the avoidance of unrealistic (i.e., unstable) simulation outcomes. These insights can help to improve the applicability of microbial-explicit models, aid our understanding of the dynamics of these models, and highlight the relation between mathematical requirements and (in silico) microbial ecology.

A novel chaotic oscillator with a half-line of unstable equilibria: Basins of attraction, chaos control, chaos synchronization, and encryption applications

A novel 3D chaotic oscillator that incorporates quadratic and absolute-function nonlinearities is introduced in this paper. The system dynamics are explored using the Lyapunov direct method, phase plane trajectories, time response, Lyapunov exponents, bifurcation diagrams, and basins of attraction. The uniqueness and existence of the system solution have been proven. The analytical investigations show that the system has two stable equilibrium points along with one unstable equilibrium point and a line of equilibria. The positive half of this line represents unstable equilibria, while the negative half is associated with stable equilibria. Additionally, it is found that the oscillator exhibits a chaotic basin of attraction centered along the line of equilibria and surrounded by a fixed-point attractor. An electronic circuit using Multisim software is designed to demonstrate the possibility of physical implementation for the considered mathematical model. Chaos control is addressed using adaptive and sliding mode control strategies. The performance of both control methods is compared, with the sliding mode control demonstrating superior results in both fast response and small transient overshoot. Furthermore, a novel sliding mode controller for master–slave synchronization is introduced, showing high performance compared to other sliding-mode and adaptive control methods applied in the literature. Finally, the proposed oscillator is employed as a Pseudo Random Number Generator (PRNG) for image encryption applications using a new encryption model. The experimental results confirm the high security and robustness of the proposed encryption algorithm against various attack methods.

Bifurcation Analysis of a Non-Linear Vehicle Model Under Wet Surface Road Condition

The vehicles are prone to accidents during cornering on a wet or low friction coefficient roads if the longitudinal velocity (Vx) and steering angle (δ) are increased beyond a certain limit. Therefore, it is of major concern to analyze the behaviour and define the stability boundary of the vehicle for such scenarios. In this paper, stability analysis of a 2 degrees of freedom nonlinear bicycle model replicating a car model including lateral (sideslip angle β) and yaw (yaw rate r) dynamics only operating on a wet surface road has been performed. The stability is analysed by utilizing the phase plane method and bifurcation analysis. The obtained converging and diverging nature of the trajectories (β, r) depicts the stable and unstable equilibrium points in the phase plane. The movement of these points results in the transition of the stability known as bifurcation due to the change in the control parameters (Vx, δ). The Matcont/Matlab is utilized to obtain the bifurcation diagrams and the nature of bifurcations. The obtained results show that a saddle node (SNB) and a subcritical Hopf bifurcation (HB) exists for steering angle (±0.08 rad) and higher than (±0.08 rad) with Vx = (10-40) m/s respectively. The SNB and HB denotes the spinning of the vehicle and sliding of the vehicle respectively, thus generating a unstable behaviour. A stability boundary is obtained representing the stable and unstable range of parameters.

Comparison of Homoclinic Bifurcations Between Grid-Following and Grid-Forming Converters

A second-order model is developed to describe the essential behavior of the grid-following converter (GFLC) and the grid-forming converter (GFMC) for studying the synchronization characteristics of grid-connected converter systems. In this paper, a general set of criteria in terms of the manifolds and saddle quantity is derived for studying the homoclinic bifurcation behavior of GFLCs and GFMCs. It is shown that three unstable periodic orbits and two homoclinic bifurcations may exist for the GFLC, while only one stable periodic orbit and one homoclinic bifurcation may exist for the GFMC. It is also found that after the onset of the first homoclinic bifurcation, the stable equilibrium point (SEP) is surrounded by the stable manifolds of the unstable equilibrium point (UEP), which forms the SEP's basin of attraction, for both GFLCs and GFMCs. In this case, the converters may lose their synchronization if the trajectory crosses over the UEP. Therefore, system parameters should be designed to avoid the onset of the aforementioned bifurcation so that the SEP's basin of attraction can be significantly enlarged to contain the UEP. As a result, the GFLC or GFMC can eventually resynchronize with the grid even when its trajectory passes the UEP. Finally, experimental results are provided to verify these theoretical findings.

Practical stability of the analytical and numerical solutions of stochastic delay differential equations driven by G-Brownian motion via some novel techniques

In this paper, we focus on stochastic delay differential equations in the G-framework (G-SDDEs). We introduce the practical stability to examine whether the performance of G-SDDE near an unstable equilibrium point is acceptable. We establish a new generalized Gronwall inequality based on which we prove the practical mean-square (PMS) exponential stability of G-SDDE. We also establish the stability equivalence between the discrete and the continuous EM approximations for G-SDDE and then show that the continuous EM approximation can preserve the PMS exponential stability of G-SDDE. One numerical experiment is conducted to confirm our theoretical results.

Spatial dynamics of higher order rock-paper-scissors and generalisations

We introduce and study the spatial replicator equation with higher order interactions and both infinite (spatially homogeneous) populations and finite (spatially inhomogeneous) populations. We show that in the special case of three strategies (rock–paper–scissors) higher order interaction terms allow travelling waves to emerge in non-declining finite populations. We show that these travelling waves arise from diffusion stabilisation of an unstable interior equilibrium point that is present in the aspatial dynamics. Based on these observations and prior results, we offer two conjectures whose proofs would fully generalise our results to all odd cyclic games, both with and without higher order interactions, assuming a spatial replicator dynamic. Intriguingly, these generalisations for N⩾5 strategies seem to require declining populations, as we show in our discussion.

Dynamics of antiphase bursting modulated by the inhibitory synaptic and hyperpolarization-activated cation currents.

Antiphase bursting related to the rhythmic motor behavior exhibits complex dynamics modulated by the inhibitory synaptic current (Isyn), especially in the presence of the hyperpolarization-activated cation current (Ih). In the present paper, the dynamics of antiphase bursting modulated by the Ih and Isyn is studied in three aspects with a theoretical model. Firstly, the Isyn and the slow Ih with strong strength are the identified to be the necessary conditions for the antiphase bursting. The dependence of the antiphase bursting on the two currents is different for low (escape mode) and high (release mode) threshold voltages (Vth) of the inhibitory synapse. Secondly, more detailed co-regulations of the two currents to induce opposite changes of the bursting period are obtained. For the escape mode, increase of the Ih induces elevated membrane potential of the silence inhibited by a strong Isyn and shortened silence duration to go beyond Vth, resulting in reduced bursting period. For the release mode, increase of the Ih induces elevated tough value of the former part of the burst modulated by a nearly zero Isyn and lengthen burst duration to fall below Vth, resulting in prolonged bursting period. Finally, the fast-slow dynamics of the antiphase bursting are acquired. Using one-and two-parameter bifurcations of the fast subsystem of a single neuron, the burst of the antiphase bursting is related to the stable limit cycle, and the silence modulated by a strong Isyn to the stable equilibrium to a certain extent. The Ih mainly modulates the dynamics within the burst and quiescent state. Furthermore, with the fast subsystem of the coupled neurons, the silence is associated with the unstable equilibrium point. The results present theoretical explanations to the changes in the bursting period and fast-slow dynamics of the antiphase bursting modulated by the Isyn and Ih, which is helpful for understanding the antiphase bursting and modulating rhythmic motor patterns.

Incentive policy for the comprehensive development of young medical talents: an evolutionary game study.

Currently in China, there is a lack of well-defined and viable incentive mechanisms at the governmental and hospital levels to support the development of young medical talents, thereby hindering their growth Existing studies primarily investigate the current state and trajectory of incentives, yet they inadequately address the distinctive characteristics of various stakeholders involved in medical talent incentive processes, particularly the lack of research on incentive mechanisms with Chinese attributes. This study adopts evolutionary game theory to investigate the dynamics of replication and the strategies for achieving evolutionary stability in the comprehensive development of young medical talents, considering both scenarios with and without supportive policies. In the absence of any supportive policy measures, the evolutionarily stable strategy (ESS) point is O(0,0), the unstable equilibrium point is C(1,1), and the saddle points are A(0,1), B(1,0). The initial state of the system is at the unstable equilibrium point C(1,1), which means that the young medical talents and medical institutions adopt a combination of strategies (actively seeking comprehensive development and taking incentive measures). Under the scenario with supportive policies, the ESS point is C(1,1), the unstable equilibrium point is O(0,0), and the saddle points are A(0,1), B(1,0). The initial state of the system is at the unstable equilibrium point O(0,0), which means that young medical talents and medical institutions adopt (N,N) strategy combinations (inactively seeking comprehensive development, implementing no incentive measure). (1) Government incentives play a crucial role in motivating young medical talents to seek comprehensive development. (2) The level of government incentive support for young medical talents should exceed the cost increment of individual efforts. Additionally, the policy support provided by the government to medical institutions should surpass the incentive support offered by these institutions to young medical talents. This will enhance the motivation and encouragement efforts of medical institutions in actively promoting comprehensive development among young medical talents. (3) With the backing of certain government incentive policies, medical institutions implementing incentive measures and young medical talents actively seeking comprehensive development will establish a virtuous cycle of mutual promotion.

Multimode function multistability of Cohen-Grossberg neural networks with Gaussian activation functions and mixed time delays

<abstract><p>This paper explores multimode function multistability of Cohen-Grossberg neural networks (CGNNs) with Gaussian activation functions and mixed time delays. We start by using the geometrical properties of Gaussian functions. The state space is partitioned into $ 3^\mu $ subspaces, where $ 0\le \mu\le n $. Moreover, through the utilization of Brouwer's fixed point theorem and contraction mapping, some sufficient conditions are acquired to ensure the existence of precisely $ 3^\mu $ equilibria for $ n $-dimensional CGNNs. Meanwhile, there are $ 2^\mu $ and $ 3^\mu-2^\mu $ multimode function stable and unstable equilibrium points, respectively. Ultimately, two illustrative examples are provided to confirm the efficacy of theoretical results.</p></abstract>

Dynamic Relationship Between KKT Saddle Solutions and Optimal Solutions in AC OPF Problems

Many KKT condition-based methods for solving AC OPF models can compute KKT-saddle solutions that are feasible solutions but not local optimal solutions. This paper explores a dynamic relationship between KKT-saddle solutions and optimal solutions in AC OPF problems and presents a “buy one, get two free” theorem by showing that if one KKT saddle is computed, then this KKT saddle is dynamically connected to two local optimal solutions. In addition, it is shown that by following the unstable manifold of the computed KKT saddle, one can easily compute two local optimal solutions. This “buy one, get two free” property occasionally degenerates into a “buy one, get one free” property when the unstable equilibrium point (UEP) associated with the computed KKT saddle does not lie on a quasi-stability boundary. Numerical demonstration of these two properties is conducted on several test systems including the IEEE 118-bus system. The robustness of these two properties under the perturbations of AC OPF models is analytically and numerically shown.

Conditions of Existence and Uniqueness of Limit Cycle for Grid-Connected VSC With PLL

This paper investigates the large disturbance stability of single voltage source converter (VSC) connected to the infinite bus system through the transmission line. One conservative stable region is obtained via the direct method of Lyapunov. Based on the Poincaré Theorem, it is interesting to find there might exist limit cycle between the obtained stable boundary and the angle of unstable equilibrium point (UEP). Accordingly, the nonlinear damping effect on the system stability is defined, and one limit cycle exists when the positive and negative damping effect over one period is mutually balanced. A conservative existence condition of limit cycle is further derived by constructing a proper piece-wise curve to approximate one specified unstable system trajectory. The derived analytical existence condition can directly predict the limit cycle without numerical simulations. Finally, the paper also proves that the studied dynamic system has at most one limit cycle, and if it exists, it is unstable.

Dynamics of phase-separated microdroplets near the contact line of evaporating all-aqueous drops.

Evaporation of multicomponent drops can induce liquid-liquid phase separation and spatial reconfiguration of phases. Here, we unveil several novel dynamics near the contact line of evaporating multicomponent drops containing polyethylene glycol and dextran. The interplay between background Marangoni flow and self-migration of nucleated microdroplets creates both unstable and stable equilibrium points. This leads to either continuous migration or stepwise advancement of microdroplets, influenced by random coalescence events. Tiny dextran microdroplets nucleating at the contact line can migrate toward the bulk only by growing in size with coalescence events. Our findings offer new insights into the fundamental understanding of evaporating multicomponent drops and factors influencing the spatial segregation of phases in evaporative liquid-liquid phase separation with implications in prebiotic biomolecular reactions to industrial applications.

A New Memristive System with Extreme Multistability and Hidden Chaotic Attractors and with Application to Image Encryption

Chaotic systems have proven highly beneficial in engineering applications. Pseudo-random numbers produced by chaotic systems have been used for secure communication, notably image encryption. Specific characteristics can increase the chaotic behavior of the system by adding complexity and nonlinearity. The three most well-known characteristics are memristive properties, multistability (coexisting attractors), and hidden attractors. These characteristics strengthen the produced time series’ unpredictability and randomness, strengthening an encryption algorithm’s resistance to many attacks. This study introduces a unique four-dimensional chaotic system with extreme multistability with respect to three initial conditions (including the memristor initial condition) and all previously known properties. It is rare to find an extreme multistable system like this. This system is coupled with a quadratic flux-controlled memristor based on the well-known Sprott J system. This system has a line of unstable equilibrium points with hidden attractors. The memristor displays the characteristic pinched hysteresis loops, where the area inside a loop and the voltage frequency are inversely related. A comprehensive dynamical analysis thoroughly examines all system characteristics and initial conditions. The numerical findings are carefully verified, and an analog circuit is successfully built and simulated. The chaotic sequences generated by this system are combined with deoxyribonucleic acid (DNA) operations and the global bit scrambling (GBS) technique to create an image encryption algorithm that has strong resistance to a variety of potential attacks, including noise, statistical, exhaustive, differential, and cropping attacks.

An Unusual chaotic system with pure quadratic nonlinearities: Analysis, control, and synchronization

An unusual chaotic oscillator consisting of two parameters, six quadratic nonlinear terms, and eight unstable equilibrium points that form vertices of a parallelepiped has been investigated in this work. The dynamics of the system were explored using bifurcation diagrams, time histories, phase plane trajectories, Lyapunov exponents, and basins of attraction. The results indicated that the system possesses a chaotic self-excited basin of attraction, manifesting as a connected region in space surrounded by a basin of unbounded motion. An analog simulation for the considered system has been demonstrated in the form of an electronic circuit using Multisim software. The simulation results confirmed the excellent correspondence with the numerical analysis, which ultimately proves the feasibility of the considered chaotic oscillator. Then, chaos control and master-slave synchronization were addressed using a sliding-mode control strategy. In addition, a comparison with different synchronization techniques has been introduced. The presented analyses show that sliding-mode synchronization and predefined time synchronization are the two superior controllers in terms of bounded control signals and fast-tracking time.

Fuzzy Gain Scheduling of the Fractional-Order PID Controller for a Continuous Stirred-Tank Reactor Process

In most chemical industries, continuous stirred-tank reactors (CSTRs) are essential for the production of chemicals. The CSTR process is highly nonlinear and has both stable and unstable equilibrium points. Control system engineers face a difficult issue when designing a single controller for temperature control in both stable and unstable areas. Due to these problems, implementing the conventional proportional-integral-derivative (PID) controller may lead to instability in controlled variables. Therefore, in this paper, the entire operating region is divided into three regions. The fractional-order PID controller as a local controller is designed in each operating region to control the temperature, and its parameters are tuned with a genetic algorithm by minimizing the integral of absolute error and control input change with a weighting factor. Then, a fuzzy gain scheduling scheme based on the Tagaki-Sugno fuzzy model is used to properly interpolate the outputs of the local controllers. A set of simulations are carried out to demonstrate the effectiveness of the proposed controller, and its performance is compared with that of an adaptive nonlinear controller and fuzzy gain scheduling of the PID controller.

A novel financial system with one stable and two unstable equilibrium points: Dynamics, coexisting attractors, complexity analysis and synchronization using integral sliding mode control

In the world of economics, financial risk is a significant issue that concerns countries and all economic agents. It refers to the potential for experiencing losses due to unpredictable fluctuations in financial or investment activities caused by endogenous factors. Chaos theory provides an explanation for the complexity observed in economic time series, as it supports an endogenous view. This article proposed an enhanced chaos-based financial risk system with one stable and two unstable equilibrium points. The existence of stable and unstable equilibrium points shows that the proposed system has both hidden and self-excited chaotic attractors. By analyzing its dynamic behavior, the study unveils the transition from stability to chaos in the improved financial risk system, while also describing how the complex dynamics of the system affect changes in financial market risk. In addition, this study explores the fundamental dynamic behavior of the financial risk system, including stability analysis, Lyapunov exponent, bifurcation analysis, coexisting attractors, 0–1 test, algorithm and spectral entropy (SE). Finally, with the help of integral sliding mode control (ISMC), we discover the outcomes for the asymptotic synchronization of two chaotic financial systems that are constructed as master and slave systems. Simulations are provided to accompany and support the findings from this research.

Transient Stability Assessment of Renewable Dominated Power Systems by the Method of Hyperplanes

With continuous increase of penetration of renewable energies and power electronic equipment, power grid stability incidents are emerging frequently worldwide. In this paper, the transient stability assessment of renewable dominated power systems with multiple PLL-based voltage source converters (VSCs) is studied by calculating critical clearing time (CCT). A tangent hyperplane method is developed, which approximates the boundary of basin of attraction near unstable equilibrium point by linear system theory. The detailed algorithm is presented, accompanying with four typical case studies, including a single machine infinite system, two parallel VSCs, modified IEEE 9- bus, and modified 39- bus systems. Broad EMT simulations are performed to verify the accuracy and computational effectiveness of the algorithm. In all these tests, we find that the hyperplane method can give accurate estimations of CCTs. Hence it is expected to be an efficient method. In addition, we find that generally the CCT in renewable dominated power systems is around tens of milliseconds, which is much shorter than that in traditional power systems around hundreds of milliseconds. Therefore, it might be imperative to adopt faster controls and protections for renewable dominated power systems.

Approaching the Transient Stability Boundary of a Power System: Theory and Applications

Estimating the stability boundary is a fundamental and challenging problem in transient stability studies. It is known that a proper level set of a Lyapunov function or an energy function can provide an inner approximation of the stability boundary, and the estimation can be expanded by trajectory reversing methods. In this paper, we streamline the theoretical foundation of the expansion methodology, and generalize it by relaxing the request that the initial guess should be a subset of the stability region. We investigate topological characteristics of the expanded boundary, showing how an initial guess can approach the exact stability boundary locally or globally. We apply the theory to power system transient stability assessment, and propose expansion algorithms to improve the well-known Potential Energy Boundary Surface (PEBS) and Boundary of stability region based Controlling Unstable equilibrium point (BCU) methods. Case studies on the IEEE 39-bus system well verify our results and demonstrate that estimations of the stability boundary and the critical clearing time can be significantly improved with modest computational cost. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</i> —This paper was motivated by the problem of determining whether a power system can retain transient stability subject to large disturbances such as short-circuit fault and generator tripping. The most well-known approaches to such a problem are the direct methods that can avoid time-costly simulations and “directly” determine the transient stability by estimating the stability boundary. Nevertheless, such estimations are generally too conservative. This paper proposes a new expansion method to improve the direct methods, which allows the initial estimation to lie partially outside the real boundary and hence enables applications to both global and local direct methods. Our method can expand the initial estimation towards the real stability boundary, thus reducing the conservativeness and providing a more accurate stability assessment such as the critical clearing time (CCT) of a fault. In this paper, we first mathematically establish the expansion theory and then propose numerical algorithms for power system applications. Simulations on the IEEE 39-bus benchmark verify our approach and show that the conservativeness can be significantly reduced with modest computational cost. Our approach can be further extended to scenarios where a valid Lyapunov (energy) function is unavailable.